Weighted Kinematic Control of PPRR Manipulator

Version 1.1.0.0 (28.2 KB) by Hrishi Shah
A PPRR serial redundant Manipulator is modeled and controlled to trace a rotated ellipse.
0.0
(0)
1.6K Downloads
Updated 16 Feb 2010

View License

A PPRR( 2 Prismatic 2 Revolute) serial manipulator is modeled and kinematic level control is provided to trace a rotated ellipse. Redundancy is removed by providing weights for the Prismatic and Revolute joints.
Control is applied using a 4th order Runge Kutta by providing weights for the position and orientation of the manipulator. An adaptation of an earlier file submitted by Adam Fosbury.
A GUI is developed to easily change ellipse and manipulator parameters.
This file was created as a Final Project of MAE593 (Math. Methods in Robotics) under the supervision of Dr. Venkat Krovi at SUNY Buffalo.

Cite As

Hrishi Shah (2024). Weighted Kinematic Control of PPRR Manipulator (https://www.mathworks.com/matlabcentral/fileexchange/23910-weighted-kinematic-control-of-pprr-manipulator), MATLAB Central File Exchange. Retrieved .

MATLAB Release Compatibility
Created with R2008a
Compatible with any release
Platform Compatibility
Windows macOS Linux
Categories
Find more on Robotics System Toolbox in Help Center and MATLAB Answers

Community Treasure Hunt

Find the treasures in MATLAB Central and discover how the community can help you!

Start Hunting!

Serial/

Version Published Release Notes
1.1.0.0

Acknowledged prof. of course in description.
1.0.0.0